JP2884656B2 - Height control devices for mobile farming machines - Google Patents
Height control devices for mobile farming machinesInfo
- Publication number
- JP2884656B2 JP2884656B2 JP2082590A JP2082590A JP2884656B2 JP 2884656 B2 JP2884656 B2 JP 2884656B2 JP 2082590 A JP2082590 A JP 2082590A JP 2082590 A JP2082590 A JP 2082590A JP 2884656 B2 JP2884656 B2 JP 2884656B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- traveling device
- vehicle
- angle
- inclination
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Vehicle Body Suspensions (AREA)
- Harvester Elements (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） この発明は、コンバイン等、移動農機等の車高制御装
置に関するものである。Description: TECHNICAL FIELD The present invention relates to a vehicle height control device for a mobile agricultural machine such as a combine harvester.
（従来技術） 従来よりコンバイン等の移動農機においては、凹凸の
激しい地面や傾斜した地面で作業を行なうとき、傾斜セ
ンサーを用いて車体に対して左右の走行装置を独立して
逆方向に昇降させて車体の水平を自動的に保つ技術があ
る。また、この走行装置の昇降は手動でも操作できる。(Prior art) Conventionally, in a mobile agricultural machine such as a combine, when performing work on a rough or sloping ground, the left and right traveling devices are independently lifted and lowered in opposite directions with respect to the vehicle body using a tilt sensor. There is a technology that automatically keeps the body level. In addition, the elevation of the traveling device can be manually operated.
そして、湿田作業時等に車体に対して左右の走行装置
を同方向に昇降させて車高を高低に調節する技術もあ
る。There is also a technique for adjusting the height of the vehicle by raising and lowering the left and right traveling devices in the same direction with respect to the vehicle body during wetland work or the like.
更に、車体に設けた傾斜センサーが車体の所定値以上
の傾斜を検出したとき、自動的に車高を下げて車体が転
倒するのを防ぐ技術もある。Furthermore, there is also a technique for automatically lowering the vehicle height and preventing the vehicle body from tipping over when an inclination sensor provided on the vehicle body detects an inclination of the vehicle body equal to or more than a predetermined value.
（発明が解決しようとする課題） 上述の従来技術においては、傾斜センサーを車体側に
設け、車体の傾斜のみを考慮した制御を行なっている。(Problems to be Solved by the Invention) In the above-described related art, an inclination sensor is provided on the vehicle body side, and control is performed in consideration of only the inclination of the vehicle body.
このため、例えば傾斜地を走行中に、走行装置が左に
角度θ大きく傾いていてもこの走行装置に対して車体を
右に略角度θ調節していると傾斜センサーは所定値以下
の傾斜角度しか検出しない。これによって自動的に車高
を下げる制御は行なわれず、走行装置が大きく傾斜し、
車高も高い状態のままで走行することになる。更に、車
体の傾斜が小さいがために、搭乗者は走行装置の急傾斜
状態を認識し難い。この結果、車体が転倒し易い状態
で、しかも搭乗者はそれに気がついていないという非常
に危険な状態に陥ることになってしまう。For this reason, for example, while traveling on a slope, even if the traveling device is inclined to the left by a large angle θ, if the vehicle body is adjusted to the right by approximately the angle θ with respect to the traveling device, the inclination sensor only has an inclination angle of a predetermined value or less. Not detected. As a result, the control for automatically lowering the vehicle height is not performed, and the traveling device is greatly inclined,
The vehicle will travel with the vehicle height still high. Further, since the inclination of the vehicle body is small, it is difficult for the passenger to recognize the steep inclination state of the traveling device. As a result, the vehicle body easily falls over, and the passenger is in a very dangerous state that he is not aware of it.
（課題を解決するための手段） この発明は上述の如き課題を解決するために、次の様
な技術的手段を講じる。(Means for Solving the Problems) The present invention employs the following technical means to solve the problems as described above.
すなわち、車体１と走行装置２との上下相対間隔及び
左右相対角度を変更可能に構成した移動農機において、
前記車体１の傾斜角度を検出する傾斜角度検出手段３
と、 前記車体１と前記走行装置２との相対角度を検出する
相対角度検出手段４とを設け、 前記傾斜角度検出手段３による検出値をγ、前記相対
角度検出手段４による検出値をβとしたとき、 α＝β＋γ の関係式から得られる走行装置２の傾斜角度αが所定値
を越えたときに、前記車体１と前記走行装置２との上下
相対間隔を小さくするべく自動制御を行なう車高制御手
段Ａを設けたことを特徴とする移動農機等の車高制御装
置としたものである。That is, in a mobile agricultural machine configured to be able to change the vertical relative distance and the horizontal relative angle between the vehicle body 1 and the traveling device 2,
Tilt angle detecting means 3 for detecting the tilt angle of the vehicle body 1
And relative angle detecting means 4 for detecting a relative angle between the vehicle body 1 and the traveling device 2, wherein a value detected by the inclination angle detecting means 3 is γ, and a value detected by the relative angle detecting means 4 is β. When the inclination angle α of the traveling device 2 obtained from the relational expression α = β + γ exceeds a predetermined value, a vehicle that performs automatic control to reduce the vertical relative distance between the vehicle body 1 and the traveling device 2 It is a vehicle height control device such as a mobile agricultural machine, which is provided with a high control means A.
（発明の作用及び効果） 例えば、傾斜地での走行時、手動操作等によって車体
１と走行装置２との相対角度を調節し、車体１をなるべ
く水平に近い状態に調節する。またこの走行時、車体１
の傾斜角度γを傾斜角度検出手段３によって検出し、ま
た車体１と走行装置２との相対角度βを相対角度検出手
段４によって検出している。そしてこの車体１の傾斜角
度γと、車体１と走行装置２との相対角度βとの和を演
算する。更にこれによって得られる走行装置２の傾斜角
度αを予め設定しておいた所定値と比較し、走行装置２
の傾斜角度αがこの所定値を越えたときに自動的に車高
を下げる制御を行なう。この制御は車高制御手段Ａによ
って自動的に行なわれる。(Operations and Effects of the Invention) For example, when traveling on a slope, the relative angle between the vehicle body 1 and the traveling device 2 is adjusted by manual operation or the like, so that the vehicle body 1 is adjusted to be as close to horizontal as possible. During this running, the vehicle body 1
Is detected by the tilt angle detecting means 3, and the relative angle β between the vehicle body 1 and the traveling device 2 is detected by the relative angle detecting means 4. Then, the sum of the inclination angle γ of the vehicle body 1 and the relative angle β between the vehicle body 1 and the traveling device 2 is calculated. Further, the inclination angle α of the traveling device 2 obtained thereby is compared with a predetermined value set in advance, and the traveling device 2
Is automatically reduced when the inclination angle α of the vehicle exceeds this predetermined value. This control is automatically performed by the vehicle height control means A.
以上のように、この発明は、車体１の傾斜だけでなく
走行装置２の傾斜を考慮した制御を行なうため、走行装
置２が急傾斜し、車高が高い不安定な状態のままで走行
することを無くし、車体１が転倒する危険を回避するこ
とができる。As described above, the present invention performs control in consideration of not only the inclination of the vehicle body 1 but also the inclination of the traveling device 2, so that the traveling device 2 is steeply inclined and travels in an unstable state where the vehicle height is high. And the danger of the vehicle body 1 falling over can be avoided.
（実施例） 以下に、この発明の一実施例をコンバインを例示して
説明する。(Example) Hereinafter, an example of the present invention will be described by exemplifying a combine.
コンバインの車体１は、下部に走行装置２として左右
一対のクローラ５、６を各々前後一対の平行リンク機構
７と、油圧による昇降シリンダ８、９とを介して上下動
するように構成している。そして、この昇降シリンダ
８、９の伸縮によって、正面視左側の昇降シリンダ８を
伸ばすと左側のクローラ５を車体１に対して下げて、車
体１の左側を上昇させる。また、逆に右側の昇降シリン
ダ９を伸ばすと右側のクローラ６を車体１に対して下げ
て、車体１の右側を上昇させる関係に構成している。The vehicle body 1 of the combine is configured such that a pair of left and right crawlers 5 and 6 are vertically moved as a traveling device 2 via a pair of front and rear parallel link mechanisms 7 and hydraulic lift cylinders 8 and 9 at a lower portion. . When the elevating cylinder 8 on the left side in front view is extended by the expansion and contraction of the elevating cylinders 8 and 9, the left crawler 5 is lowered with respect to the vehicle body 1 and the left side of the vehicle body 1 is raised. Conversely, when the right lifting cylinder 9 is extended, the right crawler 6 is lowered with respect to the vehicle body 1 and the right side of the vehicle body 1 is raised.
車体１の上側には、前記クローラ５、６及びコンバイ
ン各部を伝動するエンジン10、操縦席11、穀稈を刈取る
刈取装置12、該刈取装置12で刈取られた穀稈の供給を受
けて脱穀する脱穀装置13、及び該脱穀装置13で脱穀され
た穀粒を一時貯留する穀粒タンク14等を搭載している。On the upper side of the vehicle body 1, an engine 10 for transmitting the crawlers 5, 6 and various parts of the combine, a cockpit 11, a reaping device 12 for reaping grain culm, and a supply of grain culm cut by the mowing device 12, and threshing. And a grain tank 14 for temporarily storing grains threshed by the threshing apparatus 13.
クローラ５、６を車体１に対して昇降制御する昇降制
御装置について説明する。マイクロコンピュータに、車
体１の左右方向の傾斜角度γを検出する傾斜センサ15
（傾斜角度検出手段３）、及び左右の各昇降シリンダ
８、９の伸出長を検出する左右のストロークセンサ16、
17（相対角度検出手段４）、手動操作スイッチＳ等を入
力インターフェースを介して入力する。また、これによ
って所定のプログラムのもとに出力インターフェースを
介して制御出力される左昇降シリンダ８を伸縮させる左
上ソレノイド18、左下ソレノイド19、及び右昇降シリン
ダ９を伸縮させる右上ソレノイド20、右下ソレノイド21
等を設け、これらのソレノイド18、19、20、21によって
油圧回路のソレノイドバルブを開閉制御して昇降シリン
ダ８、９を伸縮させる構成としている。A lift control device that controls the crawlers 5 and 6 to move up and down with respect to the vehicle body 1 will be described. The microcomputer includes a tilt sensor 15 for detecting a tilt angle γ of the vehicle body 1 in the left-right direction.
(Inclination angle detecting means 3), and left and right stroke sensors 16 for detecting the extension length of each of the left and right lifting cylinders 8, 9;
17 (relative angle detecting means 4), manual operation switch S, etc., are input via the input interface. The upper left solenoid 18, the lower left solenoid 19, which expands and contracts the left elevating cylinder 8 and the upper right solenoid 20, which expands and contracts the right elevating cylinder 9, which are controlled and output via the output interface under a predetermined program. twenty one
The solenoids 18, 19, 20, 21 control the opening and closing of the solenoid valve of the hydraulic circuit to extend and retract the lift cylinders 8, 9.
この昇降制御装置には、走行地面の左右傾斜に拘らず
車体１を左右水平状態に維持制御する水平制御、左右の
クローラ５、６に対して車体１の左右高さを同じに維持
制御する平行制御、及び車体１を所定の設定高さに維持
制御する車高制御等の制御モードを設定している。The elevation control device includes a horizontal control for maintaining the vehicle body 1 in a horizontal horizontal state regardless of the horizontal inclination of the traveling ground, and a parallel control for maintaining the same horizontal height of the vehicle body 1 for the left and right crawlers 5 and 6. Control modes such as control and vehicle height control for maintaining and controlling the vehicle body 1 at a predetermined set height are set.
通常は車高制御モードと水平制御モードとによって、
走行地面の左右傾斜に拘らず、車体１を左右水平状態に
して一定の車高に維持制御する。Normally, by the vehicle height control mode and the horizontal control mode,
Regardless of the lateral inclination of the running ground, the vehicle body 1 is maintained in a horizontal state in the lateral direction, and is maintained and controlled at a constant vehicle height.
平行制御モードを行なう場合、傾斜センサ15による検
出値γが所定値に達しない緩傾斜であれば平行制御が行
なわれるが、検出値γが所定値を越えると、車体１に対
して左右のクローラ５、６を上限位置まで上げて車高を
下限位置まで下降させる。In the parallel control mode, the parallel control is performed if the detected value γ of the inclination sensor 15 is a gentle inclination that does not reach the predetermined value, but if the detected value γ exceeds the predetermined value, the left and right crawlers with respect to the vehicle body 1 are shifted. Raise 5 and 6 to the upper limit position and lower the vehicle height to the lower limit position.
また、平行制御モードを行なっている状態において手
動操作スイッチＳを操作して昇降シリンダ８、９を伸縮
させ、左右のクローラ５、６を昇降させて車体１と走行
装置２との相対角度β（車体１と左右のクローラ５、６
の接地面を結ぶ線とがなす角度）を変更して傾斜地面を
走行することがある。Further, in the parallel control mode, the manual operation switch S is operated to extend and retract the elevating cylinders 8 and 9, and the right and left crawlers 5 and 6 are moved up and down so that the relative angle β ( Body 1 and left and right crawlers 5,
(The angle formed by the line connecting the ground contact surface) and the vehicle may run on an inclined ground.
このとき車体１の傾斜角度γを傾斜センサ15によって
検出し、また車体１と走行装置２との相対角度βを左右
のストロークセンサ16、17の検出値の差から演算する。At this time, the inclination angle γ of the vehicle body 1 is detected by the inclination sensor 15, and the relative angle β between the vehicle body 1 and the traveling device 2 is calculated from the difference between the detection values of the left and right stroke sensors 16, 17.
そして、この車体１の傾斜角度γと、車体１と走行装
置２との相対角度βとの和を演算し、これによって得ら
れる走行装置２の傾斜角度αを所定値と比較する。そし
て走行装置２の傾斜角度αがこの所定値を越えたときに
昇降制御装置からの出力によって左上ソレノイド18、右
上ソレノイド20へ通電し、左右の昇降シリンダ８、９を
短縮する。これによって左右のクローラ５、６を上限位
置まで上昇させて車高を下限位置まで下降させる。この
位置において、左右のクローラ５、６と車体１とは左右
略平行状態の姿勢となる。Then, the sum of the inclination angle γ of the vehicle body 1 and the relative angle β between the vehicle body 1 and the traveling device 2 is calculated, and the obtained inclination angle α of the traveling device 2 is compared with a predetermined value. When the inclination angle α of the traveling device 2 exceeds the predetermined value, the upper left solenoid 18 and the upper right solenoid 20 are energized by the output from the elevation control device, and the left and right elevation cylinders 8 and 9 are shortened. Thereby, the left and right crawlers 5, 6 are raised to the upper limit position, and the vehicle height is lowered to the lower limit position. At this position, the left and right crawlers 5 and 6 and the vehicle body 1 are in a substantially left and right parallel posture.
図はこの発明の一実施例を示し、第１図、及び第２図は
制御状態の説明用正面図、第３図は一部の制御ブロック
図、第４図は制御フローチャート、第５図はコンバイン
正面図、第６図はコンバイン側面図、第７図はコンバイ
ン平面図である。 符号の説明 １……車体、２……走行装置 ３……傾斜角度検出手段 ４……相対角度検出手段 γ……傾斜角度検出手段による検出値 β……相対角度検出手段による検出値 α……走行装置の傾斜角度 Ａ……車高制御手段 θ……角度 ５……クローラ、６……クローラ ７……平行リンク機構、８……昇降シリンダ ９……昇降シリンダ、10……エンジン 11……操縦席、12……刈取装置、13……脱穀装置 14……穀粒タンク、15……傾斜センサ 16……ストロークセンサ 17……ストロークセンサ Ｓ……手動操作スイッチ 18……左上ソレノイド 19……左下ソレノイド 20……右上ソレノイド 21……右下ソレノイド1 and 2 are front views for explaining a control state, FIG. 3 is a partial control block diagram, FIG. 4 is a control flowchart, and FIG. FIG. 6 is a front view of the combine, FIG. 6 is a side view of the combine, and FIG. 7 is a plan view of the combine. DESCRIPTION OF SYMBOLS 1... Body, 2... Traveling device 3... Tilt angle detecting means 4... Relative angle detecting means γ... Detected value by tilt angle detecting means β. Tilt angle of traveling device A: Vehicle height control means θ: Angle 5: Crawler 6, Crawler 7: Parallel link mechanism 8, Elevating cylinder 9, Elevating cylinder 10, Engine 11 Cockpit, 12 ... harvester, 13 ... threshing device 14 ... grain tank, 15 ... tilt sensor 16 ... stroke sensor 17 ... stroke sensor S ... manual operation switch 18 ... upper left solenoid 19 ... Bottom left solenoid 20 …… Top right solenoid 21 …… Bottom right solenoid
Claims (1)
左右相対角度を変更可能に構成した移動農機において、
前記車体１の傾斜角度を検出する傾斜角度検出手段３
と、 前記車体１と前記走行装置２との相対角度を検出する相
対角度検出手段４とを設け、 前記傾斜角度検出手段３による検出値をγ、前記相対角
度検出手段４による検出値をβとしたとき、 α＝β＋γ の関係式から得られる走行装置２の傾斜角度αが所定値
を越えたときに、前記車体１と前記走行装置２との上下
相対間隔を小さくするべく自動制御を行なう車高制御手
段Ａを設けたことを特徴とする移動農機等の車高制御装
置。1. A mobile agricultural machine configured to be able to change a vertical relative distance and a horizontal relative angle between a vehicle body 1 and a traveling device 2,
Tilt angle detecting means 3 for detecting the tilt angle of the vehicle body 1
And relative angle detecting means 4 for detecting a relative angle between the vehicle body 1 and the traveling device 2, wherein a value detected by the inclination angle detecting means 3 is γ, and a value detected by the relative angle detecting means 4 is β. When the inclination angle α of the traveling device 2 obtained from the relational expression of α = β + γ exceeds a predetermined value, a vehicle that performs automatic control to reduce the vertical relative distance between the vehicle body 1 and the traveling device 2 A vehicle height control device, such as a mobile agricultural machine, provided with a high control means A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2082590A JP2884656B2 (en) | 1990-01-30 | 1990-01-30 | Height control devices for mobile farming machines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2082590A JP2884656B2 (en) | 1990-01-30 | 1990-01-30 | Height control devices for mobile farming machines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03224413A JPH03224413A (en) | 1991-10-03 |
| JP2884656B2 true JP2884656B2 (en) | 1999-04-19 |
Family
ID=12037817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2082590A Expired - Lifetime JP2884656B2 (en) | 1990-01-30 | 1990-01-30 | Height control devices for mobile farming machines |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2884656B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10316760A1 (en) * | 2003-04-10 | 2004-10-28 | Continental Aktiengesellschaft | Method for operating a level control system of a motor vehicle |
-
1990
- 1990-01-30 JP JP2082590A patent/JP2884656B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03224413A (en) | 1991-10-03 |
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